DK2591680T3

DK2591680T3 - DEVICES AND METHOD FOR PROCESSING cattle carcasses

Info

Publication number: DK2591680T3
Application number: DK12191794.2T
Authority: DK
Inventors: Arno Hermanus Maria Ueffing; Niels Antonio Willliam Koster
Original assignee: Humboldt Bv
Priority date: 2011-11-08
Filing date: 2012-11-08
Publication date: 2016-05-02
Also published as: JP2013099329A; US20130303065A1; NL2007744C2; JP6227863B2; EP2591680A1; US8986081B2; EP2591680B1; CA2795036A1; ES2569040T3; CN103081973B; RU2012147504A; CA2795036C; CN103081973A; RU2620003C2

Description

DESCRIPTION

[0001] The present invention relates to a device for processing carcasses of livestock, comprising: at least two dressing tools for performing a dressing process on livestock carcasses, and a robot arm carrying the dressing tool. The invention also relates to a method for processing livestock carcasses using such a device. Livestock carcasses are understood in this context to mean more particularly carcasses of cattle, pigs and sheep. The term carcass should further be interpreted broadly such as to also include carcass parts, such as for instance half-carcasses which may or may not be fully separated from each other.

[0002] Livestock carcasses are usually processed in slaughter lines in which the carcasses (or carcass parts) for processing are carried past a plurality of processing stations. The processing stations can be manned by personnel performing determined processes, although there is a trend toward mechanizing or automating dressing operations as far as possible. Use can be made here in a slaughter line of one or more robot arms with which specific dressing processes are performed automatically. Applying a robot arm to process livestock carcasses has the advantage that further automation of the dressing process is thus made possible while making use of one or more standardized robot arms. Drawbacks of applying one or more robot arms for processing livestock carcasses is that robot arms can be costly in use and that the capacity thereof is relatively limited.

[0003] The international patent application WO 2007/042234 discloses an arrangement for the separation of body parts of slaughtered animals, like for instance pig's trotters and cow hooves, by means of a scissor type of tool. The scissor type of tool is steered by a manipulator dependent on information provided by an optical sensor. The documents also discloses a dual scissor type of tool comprising two scissor type of tools that are arranged with parallel axis to enable the simultaneous removal of two pig's trotters or two cow hooves as a combined operation.

[0004] The UK patent application GB 2 427 121 discloses a cutter with gripper for meat carcasses wherein a mechanical robot arm carries a cutter which is moved by a robot arm. The robot arm is also provided with a gripping means for holding the carcass in a stable position throughout the cutting process.

[0005] The present invention has for its object to apply a robot arm in order to enable more efficient processing of livestock carcasses and also to further increase the quality of dressing processes performed using a robot arm.

[0006] The present invention provides for this purpose a device for processing livestock carcasses, according to claim 1. Providing a robot arm with a plurality of dressing tools has the result, among others, of greater flexibility in the use of the robot arm, and can also decrease the susceptibility to malfunction of a device according to the present invention. Depending on determined conditions, it is thus possible for instance to opt to first perform a number of dressing processes using a clean dressing tool in each case and to subsequently clean all dressing tools carried by a robot arm in a single cleaning operation. The device according to the present invention does however also provide the option of performing dressing processes using a clean dressing tool each time, but without the dressing process being held up here by the time required for cleaning the dressing tool; this is because cleaning need no longer form part of the critical path of the dressing process. Making use of at least two similar (or in a further form even at least two identical) dressing tools carried by a single robot arm, and wherein the device is also provided with at least one displaceable cleaning tool, creates the option of cleaning a soiled dressing tool during performing of a (subsequent) dressing process by the second similar dressing tool. In addition, it is for instance possible, in the case of malfunction of a determined dressing tool, to compensate this with another dressing tool carried by the same robot arm as the failing dressing tool or to have an additional operation performed by another robot arm. A further advantage is that the capacity of a relatively costly robot arm can also be better utilized, this obviously resulting in a cost advantage.

[0007] In an embodiment variant the device comprises a displaceable cleaning tool for the dressing tool, the cleaning tool being displaceable such that, as at least the dressing tool moves through a processing cycle, the cleaning tool co-displaces with the dressing tool over at least a part of a displacement path followed by the dressing tool during the processing cycle for the purpose of cleaning the dressing tool. It is noted here that the processing of carcasses is a process in which hygiene is evidently a critical factor. In order to prevent cross-infection between carcasses it is desirable to clean a dressing tool with great regularity, preferably during each processing cycle. The present invention now makes it possible during a "return movement", which was formerly a movement for the sole purpose of carrying the dressing tool back to a desired starting position, for a dressing tool to be simultaneously cleaned. It is then the case that cleaning of the dressing tool no longer affects at least partially the "critical path" of a processing cycle; this is because cleaning coincides with the displacement of the dressing tool which is necessary anyway. This therefore results in an increase in the production capacity when the device is compared to a dressing tool which is driven by a robot arm and which is placed in a stationary cleaning tool for the purpose of the cleaning; the robot arm then has to remain stationary for a time for the purpose of cleaning the dressing tool, and the full cleaning process thus adds to the cycle time. Another advantage is that a better cleaning becomes possible due to this embodiment variant of the device according to the present invention when the cycle time is kept the same as the cycle time of a dressing tool which is driven by a robot arm and placed in a stationary cleaning tool for cleaning purposes. It is of course also possible to opt for a combination of both advantages by limiting the cycle time to only a limited extent in combination with a more intensive (i.e. more prolonged) cleaning. In addition to such a limitation of the cycle time however, the cleaning time of the dressing tool can also be extended simultaneously with or independently of the above solution by adding to the device according to the present invention more than two (optionally also similar) dressing tools carried by the same robot arm. If the device of the present invention comprises for instance three identical dressing tools, the cleaning time per dressing tool can be doubled relative to a device comprising two identical dressing tools.

[0008] In an embodiment variant at least two similar dressing tools and a cleaning tool are carried by the same robot arm. It is then also possible here for the cleaning tool and the at least two dressing tools to be displaceable relative to each other between at least a position for cleaning the dressing tool with the cleaning tool and a position in which the dressing tool, unobstructed by the cleaning tool, can perform a dressing process on a carcass. During an "operating stroke" of the robot arm the dressing tool can then perform a process unimpeded by the cleaning tool, and during a "return stroke" of the robot arm the cleaning tool can then be placed close to the at least one dressing tool such that an effective cleaning is made possible and wherein, during cleaning of the at least one dressing tool, at least another dressing tool can perform a process unobstructed by the cleaning tool. It may then be possibly the case here that the at least one dressing tool for cleaning cannot be used during the return stroke because it is covered wholly or otherwise by the cleaning tool, although this need not constitute a drawback. After all, the one dressing tool need not normally perform a dressing process on a carcass during the return stroke, and there is the possibility of the other dressing tool performing an operating stroke during the return stroke of the one dressing tool. It is also possible by means of the mutual displaceability of the cleaning tool and the dressing tool to wholly (or substantially wholly) enclose the dressing tool during the cleaning such that uncontrolled spread of contamination is prevented. It is noted in this respect that the cleaning tool is desirably provided with a displaceable hood, casing or housing embodied such that this can close round one or more dressing tools such that during cleaning of the dressing tool no or hardly any contamination of the surrounding area can occur. Dissemination of cleaning liquid and/or slaughter products to the surrounding area will particularly have to be prevented hereby; these products are after all collected in the hood, casing or housing and discharged therefrom in controlled manner.

[0009] Alternatively, it is also possible for the cleaning tool to be connected displaceably to the fixed world. This therefore means that the cleaning tool is not carried by the robot arm, although it is then still possible (as is also the case when the cleaning tool is indeed carried by the robot arm) for the cleaning tool to be co-displaced by the robot arm over at least a part of a displacement path followed during the processing cycle. In such a situation the invention then provides for mounting of at least two dressing tools on the robot arm. A separate drive for displacing the cleaning tool hereby becomes unnecessary.

[0010] The plurality of dressing tools on a robot arm comprise at least two similar dressing tools, which similar dressing tools can optionally also be suitable for performing differing dressing processes. Yet another option consists of having the robot arm carry at least two similar dressing tools with a further one or more other dressing tools in addition. An advantage of assembling at least two dressing tools on a single robot arm is for instance that the cleaning time of a dressing tool can thus be considerably lengthened without this resulting in lengthening of the cycle time. This is because a dressing tool can then be cleaned not only during a return stroke, but it also possible to opt to clean the dressing tool then not in use during a processing stroke. It thus also becomes possible to limit downtime of a slaughter line as a consequence of malfunction or maintenance. When at least two similar dressing tools are assembled on a single robot arm for the purpose of performing different dressing processes, it becomes possible to perform different dressing processes wth a single robot arm. The dressing tools can for instance consist of the following dressing tools (or of combinations of the following dressing tools): saw, knife, cleaver, shears, stamp, gripper, bracket and pusher. Using these dressing tools it becomes possible to perform dressing processes such as: opening the breastbone, splitting a carcass, removing the anus, cutting of legs, cutting the neck, cleaving the pubic bone, removing the pizzle, opening the abdomen, evisceration, removal of (fat) parts, severing sinews, the removal of testicles and stamping of carcass parts. In a variant of the present invention the device comprises at least two similar dressing tools from the group of: saw, knife, cleaver, shears, stamp, gripper and pusher.

[0011] It has already been stated above in respect of the robot arm that a robot arm generally available on the market can be applied for this purpose. Depending on the processes to be supported, it is possible to opt here for a robot arm which is at least four-axis or, for more complex operations, a six-axis robot arm. The output shaft of the robot arm will usually carry at least two dressing tools and/or a cleaning tool here, although it is also possible for a shaft other than the output shaft of the robot arm to carry at least two dressing tools and/or a cleaning tool. In yet another variant it is also possible for the output shaft of the robot arm to carry an additional drive. The mutual displaceability of dressing tools and cleaning tool can be realized by mounting at least two dressing tools or a cleaning tool on this additional drive, or one of a plurality of available dressing tools can be placed in an operational mode.

[0012] For good operation of the cleaning tool, it is possible to opt to provide it with a liquid feed and a liquid discharge. The cleaning tool can further be provided with other components, such as for instance nozzles, mechanical brush elements and a protective hood.

[0013] The present invention also provides a method for processing carcasses of livestock, according to claim 9. Similar dressing processes can be performed on a carcass using the first and the second dressing tools, although it is also possible for different types of dressing process to be carried out on a carcass using the first and the second similar dressing tools. Using such a method the advantages can be realized as already described above with reference to the device according to the present invention.

[0014] In another variant a cleaning tool and the dressing tools are displaced relative to each other during a processing cycle between a cleaning position for cleaning one or more dressing tool(s) and an operating position in which the dressing tool can perform a process on a carcass unobstructed by the cleaning tool. The cleaning tool can be displaced here by the robot arm or by a drive other than the robot arm. Successive dressing processes can thus be performed by individual similar dressing tools, wherein at least one dressing tool is always being cleaned by the cleaning tool during a dressing process. The successive dressing processes can be similar (or the same) processes, but can also be dressing processes differing from each other.

[0015] The present invention will be further elucidated on the basis of the non-limitative exemplary embodiments shown in the following figures. Herein: figure 1A is a schematic view of a device for processing pig carcasses provided with a robot arm with two sawing tools and a cleaning tool; figure 1B is a schematic view of a device for processing pig carcasses provided with a robot arm with three sawing tools and a cleaning tool; figures 2A-2C show three schematic views of three different operational positions of a device for processing pig carcasses provided with a robot arm with two dressing tools and a cleaning tool connected displaceably to the fixed world.

[0016] Figure lAshows a six-axis robot arm 1 which is connected by means of a control line 2 and a power line 3 to an external control and an external power supply (not shown here). Robot arm 1 is provided with a foot 4 which is connected to the fixed world, and the output shaft 5 of robot arm 1 is situated on the side of robot arm 1 remote from foot 4. Two identical saws 21a, 21b and other parts are mounted on this output shaft 5. The first dressing tool here is a first saw 21a which is mounted on robot arm 1 and which is in an operational mode. A pig carcass 7 is suspended by means of the hind legs 8 from a guide 9 with which the pig carcasses 7 can be carried along different processing stations. The second dressing tool here is a second saw 21b which is mounted on robot arm 1 and which in the shown situation is not being used to process the pig carcass 7. In addition to the two saws 21a, 21b, robot arm 1 also carries a cleaning tool 10 which is shown here as a housing 11 through which nozzles 12 protrude inward. Second saw 21b is situated in housing 11 of cleaning tool 10 so that in the shown situation it can be cleaned. This therefore means that, while first saw 21a is being used to perform a process on the pig carcass 7, second saw 21b can be cleaned.

[0017] Nozzles 12 are provided with a cleaning fluid by feed conduits 13. Also connecting to housing 11 of cleaning tool 10 is a discharge conduit 14 with which the used cleaning fluid can be discharged. Once first saw 21a has performed a processing step, first saw 21a can be displaced into cleaning tool 10 (by means of a relative displacement of first saw 21a and cleaning tool 10) and second saw 21 b will move clear of cleaning tool 10; an additional drive 15 is placed for this purpose on output shaft 5 of robot arm 1. Once first saw 21a is situated in cleaning tool 10, the cleaning process can begin, although robot arm 1, or at least the output shaft 5 of robot arm 1, can simultaneously be displaced to a position where second saw 21b can begin to process a following pig carcass 7 or perform a subsequent processing step on the already processed pig carcass.

[0018] Figure 1B once again shows device 20 of figure 1Afor processing pig carcasses, although now in a situation where output shaft 5 is provided with three identical saws 21a, 21b, 21c for processing pig carcass 7. In addition, the abdomen 22 of pig carcass 7 is being opened by saw 21a in the situation shown according to figure 1B. Saw 21a is usually, though not necessarily, formed here by a rotating saw blade. During this opening of abdomen 22 of pig carcass 7 the saw 21a is displaced precisely along a desired path of movement by robot arm 1. Asecond saw21b and a third saw21c are meanwhile located in housing 11 of cleaning tool 10 such that they can be cleaned. It should be noted here that, compared to the device as shown in figure 1A, the cleaning time of second saw21b (and also that of third saw21c) is doubled.

[0019] Figure 2A shows a device 30 for processing pig carcasses 7 provided with a robot arm 1 with two identical dressing tools 31, 31' (in this case two schematically shown pubic bone cleavers of which only one is visible in the view of figure 2A) and a cleaning device 32 connected displaceably to the fixed world. Cleaning device 32 is for this purpose slidable along a guide rod 33. The process of cleaning dressing tools 31, 31' is further elucidated with reference to figures 2B and 2C. In figure 2B the first dressing tool 31 has completed the process applied to the carcass 7, and this first dressing tool 31 is moved to cleaning tool 32 to be introduced therein while the second dressing tool 31' is located outside cleaning tool 32. It is noted here that it is alternatively possible to embody cleaning tool 32 such that both dressing tools 31,31' can be introduced simultaneously into cleaning tool 32 such that they can both always be cleaned during the return stroke of dressing tools 31, 31'; this does of course enhance the options for cleaning the dressing tools 31, 31' without this needing to result in a longer cycle time. Once the first dressing tool 31 has been introduced into cleaning tool 32, cleaning of the first dressing tool 31 can begin. During this cleaning the cleaning tool 32 is displaced by the first dressing tool 31 along guide rod 33 (to the left in the figure) such that both dressing tools 31, 31' are moved back to a position close to a location where the first dressing tool 31 is taken out of cleaning tool 32 (see figure 2C) and can be utilized once again to perform a subsequent process on a pig carcass 7. During the return stroke of the dressing tools 31, 31' carried by robot arm 1 the first dressing tool 31 is simultaneously also cleaned. Cleaning tool 32 need not be provided with a separate drive. Means need only be provided to move cleaning tool 32 back from the position shown in figure 2C to the situation in which it is situated in figure 2A. This is possible for instance by means of placing a spring which is tensioned during the displacement during the cleaning process (sliding the cleaning tool 32 along guide rod 33 to the left in the figure), which developed tension then moves cleaning tool 32 back along guide rod 33 (urging it to the right in the figure).

REFERENCES CITED IN THE DESCRIPTION

This list of references cited by the applicant is for the reader's convenience only. It does not form part of the European patent document. Even though great care has been taken in compiling the references, errors or omissions cannot be excluded and the EPO disclaims all liability in this regard.

Patent documents cited in the description • WO2Q0704223-1A [0003] • GB2427121A Γ00041

Claims

Apparatus (20, 30) for processing carcasses (7) of cattle, comprising: - a processing tool (21a, 31) for performing a process on cattle carcasses (7), and - a robotic arm (1) which carries the processing tool (21a, 31), the device (20, 30) also comprising at least one other similar processing tool (21b, 21c; 3Γ), which first and second processing tools (21a, 21b, 21c; 31, 3Γ) are supported of a single robotic arm (1), and wherein the processing tools (21a, 21b, 21c; 31, 3Γ) are interchangeably carried by the robot arm (1) for carrying out successive removal processes, characterized in that the processing tools (21a, 21b, 21c; 31 , 3Γ) are displaceable relative to each other between at least one position for cleaning a processing tool (21a, 21b, 21c; 31, 3Γ) and an operating position in which a processing tool (21a, 21b, 21c; 31, 3Γ) can perform a sampling process on a carcass (7) .

Device (20, 30) according to claim 1, characterized in that the device (20, 30) comprises a displaceable cleaning tool (10, 32), the cleaning tool (10, 32) being displaceable so that, as a processing tool (21a, 21b, 21c; 31, 3Γ) move through a processing cycle driven by the robot arm (1), the cleaning tool (10, 32) is displaced together with the processing tool (21a, 21b, 21c; 31,31 ') at least part of a shear path followed by the processing tool (21a, 21b, 21c; 31, 3Γ) during the processing cycle, for cleaning of the processing tool (21a, 21b, 21c; 31, 3Γ).

Device (20, 30) according to claim 2, characterized in that the cleaning tool (10, 32) and the at least two processing tools (21a, 21b, 21c; 31, 3Γ) for carrying out a process on cattle carcasses (7) are carried by the same robotic arm (1).

Device (20, 30) according to claim 2 or 3, characterized in that the cleaning tool (10, 32) and the at least two processing tools (21a, 21b, 21c; 31, 3 Γ) are displaceable relative to each other in the at least one position for cleaning the processing tool (21a, 21b, 21c; 31, 3Γ) with the cleaning tool (10, 32) and a position in which at least one processing tool (21a, 21b, 21c; 31, 3Γ) can perform a removal process on a carcass (7) unobstructed by the cleaning tool (10, 32).

Device (20, 30) according to any one of claims 2-4, characterized in that the cleaning tool (10, 32) is slidably connected to the fixed world.

Device (20, 30) according to claim 5, characterized in that the cleaning tool (10, 32) is displaced together with the robot arm (1) over at least part of a displacement path which is followed during the processing cycle.

Device (20, 30) according to any one of the preceding claims, characterized in that the device (20, 30) comprises at least two uniform processing tools (21a, 21b, 21c; 31, 31 ') for performing a uniform removal process. look.

Device (20, 30) according to any one of the preceding claims, characterized in that the device (20, 30) comprises at least two uniform processing tools (21a, 21b, 21c; 31, 31 ') for carrying out various recesses. process looks.

A method for processing carcasses (7) of cattle, the method comprising the following processing steps: A) performing a sampling process on at least one cattle carcass (7) using a processing tool (21a, 21b, 21c; 31, 3Γ) which operated by a robotic arm (1), and B) performing a second following removal process using a second processing tool (21a, 21b, 21c; 31, 31 ') carried by the same robotic arm (1), characterized in that the processing tools (21a, 21b, 21c; 31, 3Γ) are displaced relative to each other between at least one processing tool cleaning position (21a, 21b, 21c; 31, 3Γ) and an operating position in which a processing tool (21a, 21b, 21c; 31, 31 ') may perform a sampling process on a carcass (7).

Process according to claim 9, characterized in that uniform removal processes are performed on a carcass (7) using the first and second processing tools (21a, 21b, 21c; 31, 3Γ).

Method according to claim 9, characterized in that different types of extraction processes are performed on a carcass (7) using the first and second processing tools (21a, 21b, 21c; 31, 3Γ).

Process according to claim 9, characterized in that a cleaning tool (10, 32) and the processing tools (21a, 21b, 21c; 31, 3Γ) are displaced relative to one another during a processing cycle between a cleaning position for cleaning the processing tool (21a, 21b) , 21c; 31, 31 ') and an operating position in which the processing tool (21a, 21b, 21c; 31, 3Γ) can perform a removal process on a carcass (7) unhindered by the cleaning tool (10, 32).

Method according to claim 12, characterized in that a cleaning tool (10, 32) which is separated from the robot arm (1) is displaced by a drive other than the robot arm (1).

Method according to claim 12 or 13, characterized in that a withdrawal process operated by a robotic arm (1) consists of a withdrawal process from the following group: opening of the sternum, removal of the bull's stomach, cleavage of a carcass (7), removal of the anus, cutting of the bones, cutting of the neck, cleavage of the pubic bone, opening of the abdomen, removal of viscera, removal of (fat) parts, cutting of tendons, removal of testicles and stamping of carcass parts.

Method according to any one of claims 12-14, characterized in that the successive removal processes are performed on cattle bodies (7) by individual uniform processing tools (21a, 21b, 21c; 31, 3Γ), wherein at least one processing tool ( 21a, 21b, 21c; 31, 3Γ) are always cleaned by the cleaning tool (10, 32) during a removal process.